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<li class="navelem"><a class="el" href="namespacecollision.html">collision</a></li><li class="navelem"><a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a></li>  </ul>
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<a href="#pub-methods">Public Member Functions</a> &#124;
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<p>Base class for CollisionObjects and some of their groups.  
 <a href="classcollision_1_1_collision_object.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="collision__object_8h_source.html">collision_object.h</a>&gt;</code></p>
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Inheritance diagram for collision::CollisionObject:</div>
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  <img src="classcollision_1_1_collision_object.png" usemap="#collision::CollisionObject_map" alt=""/>
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<area href="classcollision_1_1_collision_object_ex.html" title="Provides functionality to use different collision solvers." alt="collision::CollisionObjectEx" shape="rect" coords="1032,112,1317,136"/>
<area href="classcollision_1_1_shape.html" title="Base prototype for the shape of an obstacle." alt="collision::Shape" shape="rect" coords="737,168,1022,192"/>
<area href="classcollision_1_1_shape_group.html" title="ShapeGroup can contain simple shapes." alt="collision::ShapeGroup" shape="rect" coords="1032,168,1317,192"/>
<area href="classcollision_1_1_time_variant_collision_object.html" title="TimeVariantCollisionObject can contain a different CollisionObject or ShapeGroup at each time step." alt="collision::TimeVariantCollisionObject" shape="rect" coords="1327,168,1612,192"/>
<area href="classcollision_1_1_point.html" title="A point in space." alt="collision::Point" shape="rect" coords="0,224,285,248"/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a96352a5369914c677a8f826b68028205"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a96352a5369914c677a8f826b68028205">~CollisionObject</a> ()</td></tr>
<tr class="separator:a96352a5369914c677a8f826b68028205"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2bc867e40184d64561ceac3f2276f976"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149">CollisionObjectType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a2bc867e40184d64561ceac3f2276f976">getCollisionObjectType</a> () const</td></tr>
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<tr class="memitem:a0d72d251df66cd7a7f42ec11eee1531f"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="namespacecollision.html#a6e97ae92656250cd1667b6a73100843f">CollisionObjectClass</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a0d72d251df66cd7a7f42ec11eee1531f">getCollisionObjectClass</a> () const</td></tr>
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<tr class="memitem:a98bb20ca531cf5018fff83603e93b597"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a98bb20ca531cf5018fff83603e93b597">collide</a> (const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;c, const <a class="el" href="classcollision_1_1_collision_request.html">collision::CollisionRequest</a> &amp;req=<a class="el" href="classcollision_1_1_collision_request.html">CollisionRequest</a>()) const =0</td></tr>
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<tr class="memitem:a08e7481df513e04cc02ae6806ce56020"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a08e7481df513e04cc02ae6806ce56020">print</a> (std::ostringstream &amp;stream) const</td></tr>
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<tr class="memitem:a9bc84c4dd5f378403d31393326a0644e"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a9bc84c4dd5f378403d31393326a0644e">toString</a> (std::ostringstream &amp;stream) const</td></tr>
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<tr class="memitem:a71984805dce3828e2d9e52dfa06e7b9e"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a71984805dce3828e2d9e52dfa06e7b9e">BVCheck</a> (<a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> obj2) const =0</td></tr>
<tr class="separator:a71984805dce3828e2d9e52dfa06e7b9e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a47f5911d90f655e29ce682f037ad5ce7"><td class="memItemLeft" align="right" valign="top">virtual std::shared_ptr&lt; const <a class="el" href="classcollision_1_1_rectangle_a_a_b_b.html">collision::RectangleAABB</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a47f5911d90f655e29ce682f037ad5ce7">getAABB</a> () const =0</td></tr>
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<tr class="memitem:a525c0826bd7ef13b2fe62868d3e49d30"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a525c0826bd7ef13b2fe62868d3e49d30">addParentMap</a> (std::unordered_map&lt; const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> *, std::list&lt; <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> &gt;&gt; &amp;parent_map) const</td></tr>
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<tr class="memitem:a8b14d81e4da802dd2a5f805162cf6ad4"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a8b14d81e4da802dd2a5f805162cf6ad4">addParentMap</a> (std::unordered_map&lt; const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> *, std::list&lt; <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> &gt;&gt; &amp;parent_map, <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> parent) const</td></tr>
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<tr class="memitem:ada59ea467dae56bd3aba491fce9a05a3"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#ada59ea467dae56bd3aba491fce9a05a3">timeSlice</a> (int time_idx, <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> shared_ptr_this) const =0</td></tr>
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<tr class="memitem:a43b2608cfc67b33f4aa4216e11a9990d"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a43b2608cfc67b33f4aa4216e11a9990d">rayTrace</a> (const Eigen::Vector2d &amp;point1, const Eigen::Vector2d &amp;point2, std::vector&lt; <a class="el" href="classcollision_1_1_line_segment.html">LineSegment</a> &gt; &amp;intersect) const</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Base class for CollisionObjects and some of their groups. </p>

<p class="definition">Definition at line <a class="el" href="collision__object_8h_source.html#l00047">47</a> of file <a class="el" href="collision__object_8h_source.html">collision_object.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a96352a5369914c677a8f826b68028205">&#9670;&nbsp;</a></span>~CollisionObject()</h2>

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          <td class="memname">virtual collision::CollisionObject::~CollisionObject </td>
          <td>(</td>
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<p class="definition">Definition at line <a class="el" href="collision__object_8h_source.html#l00049">49</a> of file <a class="el" href="collision__object_8h_source.html">collision_object.h</a>.</p>

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<h2 class="groupheader">Member Function Documentation</h2>
<a id="a525c0826bd7ef13b2fe62868d3e49d30"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a525c0826bd7ef13b2fe62868d3e49d30">&#9670;&nbsp;</a></span>addParentMap() <span class="overload">[1/2]</span></h2>

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          <td class="memname">void collision::CollisionObject::addParentMap </td>
          <td>(</td>
          <td class="paramtype">std::unordered_map&lt; const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> *, std::list&lt; <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> &gt;&gt; &amp;&#160;</td>
          <td class="paramname"><em>parent_map</em></td><td>)</td>
          <td> const</td>
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<p>Reimplemented in <a class="el" href="classcollision_1_1_shape_group.html#aa3a3e740ded6cd1b6207ea85bcffd99c">collision::ShapeGroup</a>, and <a class="el" href="classcollision_1_1_time_variant_collision_object.html#a9542a5ccec3c2f5712b2b7cf42ea48a8">collision::TimeVariantCollisionObject</a>.</p>

<p class="definition">Definition at line <a class="el" href="collision__object_8cc_source.html#l00031">31</a> of file <a class="el" href="collision__object_8cc_source.html">collision_object.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a8b14d81e4da802dd2a5f805162cf6ad4">&#9670;&nbsp;</a></span>addParentMap() <span class="overload">[2/2]</span></h2>

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          <td class="memname">void collision::CollisionObject::addParentMap </td>
          <td>(</td>
          <td class="paramtype">std::unordered_map&lt; const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> *, std::list&lt; <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> &gt;&gt; &amp;&#160;</td>
          <td class="paramname"><em>parent_map</em>, </td>
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          <td class="paramtype"><a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a>&#160;</td>
          <td class="paramname"><em>parent</em>&#160;</td>
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          <td>)</td>
          <td></td><td> const</td>
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<p>Reimplemented in <a class="el" href="classcollision_1_1_shape_group.html#a14fbbecda2dd65c9658089a4e665efb2">collision::ShapeGroup</a>.</p>

<p class="definition">Definition at line <a class="el" href="collision__object_8cc_source.html#l00043">43</a> of file <a class="el" href="collision__object_8cc_source.html">collision_object.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a71984805dce3828e2d9e52dfa06e7b9e">&#9670;&nbsp;</a></span>BVCheck()</h2>

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          <td class="memname">virtual bool collision::CollisionObject::BVCheck </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a>&#160;</td>
          <td class="paramname"><em>obj2</em></td><td>)</td>
          <td> const</td>
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<p>Implemented in <a class="el" href="classcollision_1_1_collision_object_ex.html#a50d6ae971b8c05c6ad8e876ed3141733">collision::CollisionObjectEx</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a98bb20ca531cf5018fff83603e93b597">&#9670;&nbsp;</a></span>collide()</h2>

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          <td>(</td>
          <td class="paramtype">const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;&#160;</td>
          <td class="paramname"><em>c</em>, </td>
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          <td class="paramtype">const <a class="el" href="classcollision_1_1_collision_request.html">collision::CollisionRequest</a> &amp;&#160;</td>
          <td class="paramname"><em>req</em> = <code><a class="el" href="classcollision_1_1_collision_request.html">CollisionRequest</a>()</code>&#160;</td>
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<p>Implemented in <a class="el" href="classcollision_1_1_collision_object_ex.html#a7fa9738682fe6d4cdef843e99fa5e693">collision::CollisionObjectEx</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a47f5911d90f655e29ce682f037ad5ce7">&#9670;&nbsp;</a></span>getAABB()</h2>

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<p>Implemented in <a class="el" href="classcollision_1_1_collision_object_ex.html#a7cbe600ed254b8e9ae54fd1e658d6991">collision::CollisionObjectEx</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a0d72d251df66cd7a7f42ec11eee1531f">&#9670;&nbsp;</a></span>getCollisionObjectClass()</h2>

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<p>Reimplemented in <a class="el" href="classcollision_1_1_shape_group.html#aa177b8b69d8d63598580c2d4f4d194c1">collision::ShapeGroup</a>, <a class="el" href="classcollision_1_1_time_variant_collision_object.html#a4a52c1822db6867be79e785dcc889c20">collision::TimeVariantCollisionObject</a>, and <a class="el" href="classcollision_1_1_shape.html#a7f344a99a3e155fb725d750321350fe7">collision::Shape</a>.</p>

<p class="definition">Definition at line <a class="el" href="collision__object_8h_source.html#l00063">63</a> of file <a class="el" href="collision__object_8h_source.html">collision_object.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a2bc867e40184d64561ceac3f2276f976">&#9670;&nbsp;</a></span>getCollisionObjectType()</h2>

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          <td class="memname">virtual <a class="el" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149">CollisionObjectType</a> collision::CollisionObject::getCollisionObjectType </td>
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<p>Reimplemented in <a class="el" href="classcollision_1_1_shape_group.html#a98435b3f0d8a04eeb75bb3cba7d338e2">collision::ShapeGroup</a>, <a class="el" href="classcollision_1_1_rectangle_o_b_b.html#a57db74397a9155f78d92fd8d8f6d2908">collision::RectangleOBB</a>, <a class="el" href="classcollision_1_1_polygon.html#a39abe4295b7ba9f7f973159c6b27bf7d">collision::Polygon</a>, <a class="el" href="classcollision_1_1_rectangle_a_a_b_b.html#ade5b54661bfddda7f330ec0a435e5a80">collision::RectangleAABB</a>, <a class="el" href="classcollision_1_1_time_variant_collision_object.html#a05edb9e198a9e55e1cd611c66482cf2d">collision::TimeVariantCollisionObject</a>, <a class="el" href="classcollision_1_1_sphere.html#afa9653c31d11f52e94d24938943d9ee4">collision::Sphere</a>, <a class="el" href="classcollision_1_1_triangle.html#a609ff938856d9cca7277e59af850c7f1">collision::Triangle</a>, and <a class="el" href="classcollision_1_1_point.html#a04b98afbd6a02af182bc654f3fc6bec6">collision::Point</a>.</p>

<p class="definition">Definition at line <a class="el" href="collision__object_8h_source.html#l00060">60</a> of file <a class="el" href="collision__object_8h_source.html">collision_object.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a08e7481df513e04cc02ae6806ce56020">&#9670;&nbsp;</a></span>print()</h2>

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          <td class="memname">virtual void collision::CollisionObject::print </td>
          <td>(</td>
          <td class="paramtype">std::ostringstream &amp;&#160;</td>
          <td class="paramname"><em>stream</em></td><td>)</td>
          <td> const</td>
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<p>Reimplemented in <a class="el" href="classcollision_1_1_shape_group.html#afb47ff923d88542916722482044654f7">collision::ShapeGroup</a>, <a class="el" href="classcollision_1_1_rectangle_o_b_b.html#a95730f2c860668929a2a1b50a128ba9d">collision::RectangleOBB</a>, <a class="el" href="classcollision_1_1_rectangle_a_a_b_b.html#a86d3fdaa0140e5d36b3e0c8f00052cec">collision::RectangleAABB</a>, <a class="el" href="classcollision_1_1_shape.html#aa415ef83e29916ba893fd3452eb06290">collision::Shape</a>, <a class="el" href="classcollision_1_1_sphere.html#acb5bcd4a264388c5add9533b75488977">collision::Sphere</a>, <a class="el" href="classcollision_1_1_triangle.html#ad8a5d2fd47ff87ff930a87fa0b66e34d">collision::Triangle</a>, <a class="el" href="classcollision_1_1_polygon.html#af3bedde3049919e0d0c078a76e70adc7">collision::Polygon</a>, <a class="el" href="classcollision_1_1_time_variant_collision_object.html#af5b762d1afeffa2ad77095e9166db224">collision::TimeVariantCollisionObject</a>, and <a class="el" href="classcollision_1_1_point.html#ac525efda27b241de0f5468e2c8a2ecf4">collision::Point</a>.</p>

<p class="definition">Definition at line <a class="el" href="collision__object_8h_source.html#l00071">71</a> of file <a class="el" href="collision__object_8h_source.html">collision_object.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a43b2608cfc67b33f4aa4216e11a9990d">&#9670;&nbsp;</a></span>rayTrace()</h2>

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          <td class="memname">virtual bool collision::CollisionObject::rayTrace </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector2d &amp;&#160;</td>
          <td class="paramname"><em>point1</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">const Eigen::Vector2d &amp;&#160;</td>
          <td class="paramname"><em>point2</em>, </td>
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          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="classcollision_1_1_line_segment.html">LineSegment</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>intersect</em>&#160;</td>
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          <td>)</td>
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<p>Reimplemented in <a class="el" href="classcollision_1_1_shape_group.html#ac6c6b853e11e3ae499f47b67855e4b1a">collision::ShapeGroup</a>, <a class="el" href="classcollision_1_1_rectangle_o_b_b.html#a2ddf46a0414316e34c8d1d28726bfb91">collision::RectangleOBB</a>, <a class="el" href="classcollision_1_1_polygon.html#a34b4e3ad90a717e907d069cf0816581f">collision::Polygon</a>, <a class="el" href="classcollision_1_1_rectangle_a_a_b_b.html#aeeb75b451a91b486ba8d1e6ab9b0ee53">collision::RectangleAABB</a>, <a class="el" href="classcollision_1_1_triangle.html#a302b97fe2004758c742cb741297a2f7e">collision::Triangle</a>, <a class="el" href="classcollision_1_1_time_variant_collision_object.html#a1a9023a0cde7576d58d9a3df6176cd3c">collision::TimeVariantCollisionObject</a>, and <a class="el" href="classcollision_1_1_sphere.html#a917e3ac548dff5f5ffd873845b9e7567">collision::Sphere</a>.</p>

<p class="definition">Definition at line <a class="el" href="collision__object_8h_source.html#l00090">90</a> of file <a class="el" href="collision__object_8h_source.html">collision_object.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ada59ea467dae56bd3aba491fce9a05a3">&#9670;&nbsp;</a></span>timeSlice()</h2>

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          <td class="memname">virtual <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> collision::CollisionObject::timeSlice </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>time_idx</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a>&#160;</td>
          <td class="paramname"><em>shared_ptr_this</em>&#160;</td>
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          <td>)</td>
          <td></td><td> const</td>
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<p>Implemented in <a class="el" href="classcollision_1_1_shape_group.html#aa93ceeb9c9ad8722e6ff4f611cb2feb3">collision::ShapeGroup</a>, <a class="el" href="classcollision_1_1_shape.html#a2bec0ccd43f30004758b2112b46659d4">collision::Shape</a>, <a class="el" href="classcollision_1_1_polygon.html#a991b4dbc5536a52922e952f6da0df5aa">collision::Polygon</a>, and <a class="el" href="classcollision_1_1_time_variant_collision_object.html#ad75e681813a41620c7a40abc43d96aa3">collision::TimeVariantCollisionObject</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a9bc84c4dd5f378403d31393326a0644e">&#9670;&nbsp;</a></span>toString()</h2>

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          <td class="memname">virtual void collision::CollisionObject::toString </td>
          <td>(</td>
          <td class="paramtype">std::ostringstream &amp;&#160;</td>
          <td class="paramname"><em>stream</em></td><td>)</td>
          <td> const</td>
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<p>Reimplemented in <a class="el" href="classcollision_1_1_shape_group.html#af7dae6147a3aac8fbd5342fe01765e34">collision::ShapeGroup</a>, and <a class="el" href="classcollision_1_1_polygon.html#a92e0556588da046d1139d15fca72b8f1">collision::Polygon</a>.</p>

<p class="definition">Definition at line <a class="el" href="collision__object_8h_source.html#l00073">73</a> of file <a class="el" href="collision__object_8h_source.html">collision_object.h</a>.</p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>cpp/collision/include/collision/<a class="el" href="collision__object_8h_source.html">collision_object.h</a></li>
<li>cpp/collision/src/<a class="el" href="collision__object_8cc_source.html">collision_object.cc</a></li>
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